Observer-based adaptive fuzzy fault-tolerant output feedback control of uncertain nonlinear systems with actuator faults

This paper develops an adaptive fuzzy control method for accommodating actuator faults in a class of unknown nonlinear systems with unmeasured states. The considered faults are modeled as lock-in-place (stuck at unknown place). With the help of fuzzy logic systems to approximate the unknown nonlinear functions, and K-filters are designed to estimate the unmeasured states. Combining the backstepping technique with the nonlinear fault-tolerant control theory, a novel adaptive fuzzy faults-tolerant control (FTC) approach is constructed. It is proved that the proposed control approach can guarantee that all the signals of the resulting closed-loop system are bounded and the tracking error between the system output and the reference signal converges to a small neighborhood of zero by appropriate choice of the design parameters. Simulation results are provided to show the effectiveness of the control approach.